关键词：光机电；机器人；正向运动学；牛顿迭代法；遗传算法
摘 要：6-DOF parallel robot forward kinematics can be achieved by Newton-Raphson method with more accurancy,but the result depends on the offer of initial value.It can definitely calculate the result by genetic algorithm,however,more evolved algebra is needed to make it more accurate,and sometimes it hardly meets the requirement by concurrent control.This article points to use the result of genetic as the initial value of algorithm,and ultimately make use of iteration to complete the forward kinematics.High accuracy and speed are the main features of this calculation,and another one is interpreting from the implementation point of view,which is very practical and meet the concurrent control through experiment.